CN107757319A

CN107757319A - Vehicle with dodge gate region

Info

Publication number: CN107757319A
Application number: CN201710674474.8A
Authority: CN
Inventors: 杰西·马里尼; 奥斯卡·萨维德拉; 豪尔赫·戈麦斯·梅尔乔
Original assignee: Ford Global Technologies LLC
Current assignee: Ford Global Technologies LLC
Priority date: 2016-08-15
Filing date: 2017-08-08
Publication date: 2018-03-06
Anticipated expiration: 2037-08-08
Also published as: US20180363352A1; RU2684964C2; DE102017118575A1; RU2017128412A3; US20180044963A1; US10060170B2; GB2555684A; US10738524B2; GB201712959D0; RU2017128412A; CN107757319B

Abstract

A kind of vehicle includes：Vehicle frame, rotatable door；Interceptor, the interceptor include the arm for extending through selective gate, and the selective gate includes：Respectively by upper roller and the upper springs and lower springs of lower roll against arm；Upper and lower part limiter, the upper and lower part limiter are configured to that upper roll and lower rollers are pressed against on arm so as to stop the rotation of door on startup；The vehicle also includes sensor, processor, and processor is configured as starting and disabling limiter based on the event sensed.

Description

Vehicle with dodge gate region

Technical field

The disclosure relates generally to automatically controlling for car door.

Background technology

The object of such as bicycle may collide with car door.A solution is needed to prevent or prevent bicycle and car Collision between door.

The content of the invention

A kind of vehicle includes：Vehicle frame, rotatable door；Interceptor, the interceptor include：Extend through selective gate Arm, selective gate include：Respectively by upper roll and the upper springs and lower springs of lower rollers against arm；Top is with Portion's limiter, upper and lower part limiter is configured to that upper roll and lower rollers are pressed against on arm on startup, so as to stop door Rotation；The vehicle also includes sensor, processor, and processor is configured as based on described in the event startup sensed and deactivation Limiter.

According to some embodiments, door structure is into around vehicle frame rotation and pivot；Wherein described interceptor is configured about car Frame rotates and pivoted；Wherein selective gate is fixed to door.

According to some embodiments, top limiter includes：(a) upper linear motor or solenoid, the actuating of (b) Upper vertical Device and (c) top brake.

According to some embodiments, when top limiter starts, Upper vertical actuator is extended through in upper springs Mandrel line.

According to some embodiments, when starting top limiter, upper linear motor or solenoid activate Upper vertical Device extends downwardly, and Upper vertical actuator drives top brake against upper roll.

According to some embodiments, when starting top limiter, top limiter drives top brake against upper roll Until top limiter disables.

According to some embodiments, lower limit device includes：(a) lower linear motor or solenoid, the actuating of (b) lower vertical Device, and (c) bottom brake.

A kind of vehicle includes：Rotatable door, interceptor, interceptor include：Upper and lower part limiter, the upper and lower part Limiter is configured to that upper roll and lower rollers are pressed against on arm on startup, so as to prevent the rotation of door；Vehicle also includes passing Sensor, processor, processor are configured as：Started based on the event sensed and disable limiter.

According to some embodiments, processor is configured as：It is determined that the calculating track of the object detected is intersected with door；It is based on It is determined that start limiter.

According to some embodiments, processor is configured as：Position is scanned to determine the rail of object detected based on door Mark intersects with door.

According to some embodiments, the position of scanning of door is arc and closed position, the fully open position of door including door With the centre position of door.

According to some embodiments, processor is configured as：It is true with reference to seat harness sensor or seat load cell It is movable to determine door；Only when door is confirmed as activity, the track of object to be detected is just calculated with reference to door.

According to some embodiments, door is driver door and interceptor is driver door's interceptor, and vehicle is included and is connected to The passenger doors of passenger doors interceptor, and processor is configured as：Passed with reference to passenger safety belt sensor or passenger seat load Sensor determines that passenger doors are movable；Only when passenger doors are active, the calculating track of object detected is just determined Intersect with passenger doors；Based on the limiter for determining startup passenger doors interceptor.

According to some embodiments, processor is configured as：Measurement applies load on the stopper；When the load of measurement surpasses When crossing predetermined value pre-determined number, limiter is disabled.

A kind of method for the rotatable door for stopping vehicle being disclosed, vehicle includes sensor, door and interceptor, the interceptor Have：Upper and lower part limiter, it is configured to that upper roll and lower rollers are pressed against on arm on startup, so as to prevent door Rotation；Method includes the processor via vehicle：Started based on the event sensed and disable limiter.

According to some embodiments, this method includes：It is determined that the calculating track of the object detected and door scan position phase Hand over；Limiter is started based on determination.

According to some embodiments, this method includes：Door is determined with reference to seat harness sensor or seat load cell It is movable；Only when door is confirmed as activity, the track of object to be detected is just calculated with reference to door.

According to some embodiments, door is driver door and interceptor is driver door's interceptor, and vehicle includes being connected to The passenger doors of passenger doors interceptor, and this method includes：With reference to passenger safety belt sensor or passenger seat load cell It is movable to determine passenger doors；Only when passenger doors are active, the calculating track for the object for just determining to detect is with multiplying Objective door intersects；Start the limiter of passenger doors interceptor based on the determination.

According to some embodiments, this method includes：Measurement applies load on the stopper；When the load of measurement exceedes in advance During definite value pre-determined number, limiter is disabled.

Brief description of the drawings

For a better understanding of the present invention, it may be referred to the embodiment shown in the following drawings.Part in accompanying drawing differs It is fixed drawn to scale, and the element of correlation can be omitted, or ratio therein may be exaggerated in some cases, so as to Emphasize and clearly demonstrate novel feature described herein.In addition, as known in the art, system synthesis can carry out various Arrangement.In addition, in the accompanying drawings, identical reference represents corresponding part in several figures；

Fig. 1 is the block diagram of vehicle computing system；

Fig. 2 is the top view for the vehicle for including vehicle computing system；

Fig. 3 a are the side views of the prior art interceptor with the selective gate shown in cross section；

Fig. 3 b are with the side view of the new selective gate shown in partial cross sectional；

Fig. 4 is attached to the prior-art illustration of the interceptor of door；

Fig. 5 is the top view of the vehicle with open doors；

Fig. 6 is the block diagram of method.

Embodiment

Although the present invention can be implemented in a variety of manners, it is shown in the drawings and will be described below some and show Example property and non-limiting example, while understand the present invention by the example for being considered as the present invention and be not intended to limit the invention to In shown specific embodiment.

In this application, the use of disjunctive is intended to include attachment.It is not meant to using definite article or indefinite article Represent radix.Especially, the reference to " should (the) " object or " one (a) " and " one (an) " object be also intended to expression can One in multiple such objects of energy.In addition, conjunction "or" can be used for existing while expression is used as an option Feature, and as another option mutual exclusion substitute.In other words, conjunction "or" is construed as including as one The "and/or" of option, and " or/or " as another option.

Fig. 1 shows the computing system 100 of example vehicle 200.Vehicle 200 is also known as the first vehicle 200.Vehicle 200 include motor, battery, at least one wheel driven by motor and are configured to make what at least one wheel was rotated about axis Steering.Vehicle 200 includes multiple doors 400 to 403.Vehicle is also in such as Miller et al. U.S. Patent Application No. 14/ 991,496 (" Miller "), Prasad et al. U.S. Patent number 8,180,547 (" Prasad "), Lavoie et al. the U.S. Described in the patent No. 15/186,850 (" Lavoie ") and Hu et al. U.S. Patent Application No. 14/972,761 (" Hu "), its Full content is incorporated herein by reference.Computing system 100 can be in automaton mechanical system.Computing system 100 Also support the communication with external equipment.Computing system 100 includes data/address bus 101, one or more processors 108, volatibility Memory 107, nonvolatile memory 106, user interface 105, telematics unit 104, actuator and motor 103 with And local sensor 102.

Data/address bus 101 transmits electronic signal or data between electronic unit.Processor 108 is to electronic signal or data Operation is performed to produce modified electronic signal or data.Volatile memory 107 is stored for being adjusted immediately by processor 108 Data.Nonvolatile memory 106 is stored for calling the data to volatile memory 107 and/or processor 108. Nonvolatile memory 106 includes a series of including hard disk drive, SSD (solid state hard disc), DVD (digitlization CD), blue light The nonvolatile memory of CD etc..User interface 105 includes display, touch-screen display, keyboard, button and other energy The equipment for enough making user be interacted with computing system.Telematics unit 104 can be by bluetooth, cellular data (for example, 3G (3G (Third Generation) Moblie), LTE (Long Term Evolution)), USB (USB) etc. and ppu carry out it is wired and Radio communication.Telematics unit 104 can be configured as with specific frequency broadcast singal.

Actuator/motor 103 produces physical result.The example of actuator/motor includes fuel injector, windshield is scraped Hydrophone, Brake lamp loop, speed changer, air bag, engine, PWTN motor, transfer, upper and lower part are spacing Device 304,305 (being discussed below) etc..Local sensor 102 transmits digital reading or measurement result to processor 108.Suitably The example of sensor includes temperature sensor, turn-sensitive device, seat belt sensor, velocity sensor, video camera, laser radar Sensor, radar sensor etc..It should be understood that the part of Fig. 1 various connections can include independent or application specific processor and storage Device.For example, the further detail below structurally and operationally of computing system 100 is described in Miller and/or Prasad.

Fig. 2 generally illustrates and illustrated the vehicle 200 for including computing system 100.Although it is not shown, vehicle 200 with it is all Mobile device such as mobile phone carries out operation radio communication.Some local sensors 102 are arranged on the outside of vehicle 200.This Ground sensor 102a can be ultrasonic sensor, laser radar sensor, video camera, video camera and/or microphone etc.. Local sensor 102a can be configured as detecting the object in the front of vehicle 200.Local sensor 102b can be that ultrasonic wave passes Sensor, laser radar sensor, video camera, video camera and/or microphone etc..Local sensor 102b can be configured as The object behind vehicle 200 is detected, is such as indicated by rear sensing range 109b.Left sensor 102c and right sensor 102d can be with It is configured as performing identical function to the left side of vehicle 200 and right side.Vehicle 200 includes being located at vehicle interior or outside vehicle A large amount of other sensors 102.These sensors can be included in any or all of sensor disclosed in Prasad.

It should be understood that vehicle 200 is configured as performing method as described below and operation.In some cases, vehicle 200 are configured as the computer program on the volatibility by being stored in computing system 100 and/or nonvolatile memory to hold These functions of row.Processor " being configured as " is when processor with storage with the code for embodying disclosed operation or the software of instruction Disclosed operate is performed when the memory of program operationally communicates.Enter on what how processor, memory and program were cooperated One step explanation provides in Prasad.It should be understood that the mobile device or external server that are operationally communicated with vehicle 200 are held Row partly or entirely method and operation discussed below.

According to various embodiments, vehicle 200 includes Prasad vehicle 100a part or all of feature.According to various realities Example is applied, computing system 100 includes Prasad Fig. 2 VCCS (vehicle calculates and communication system) 102 part or all of feature. According to various embodiments, vehicle 200 communicates with some or all devices shown in Prasad Fig. 1, including mobile device 110, Communication tower 116, communication network 118, internet 120 and data processing centre 122.According to various embodiments, vehicle 200 is Hu Vehicle 14, and computing system 100 includes the part or all of feature of the reversing of trailer accessory system 10 shown in Hu Fig. 2.

In detail in the claims in use, term " load vehicle " is defined herein as：" a kind of vehicle, including：Motor, Multiple wheels, power source and steering；Wherein described motor transfer torque to it is at least one in the multiple wheel, from And drive at least one in the multiple wheel；Wherein described power supply provides energy to the motor；And wherein described turn It is configured to turn to system at least one in the multiple wheel.”.In the claims in use, the term " electricity equipped entirely Motor-car " is defined herein as meaning：" a kind of vehicle, including：Battery, multiple wheels, motor, steering；It is wherein described Motor transfer torque to it is at least one in the multiple wheel, it is at least one in the multiple wheel so as to drive；Its Described in battery be it is rechargeable and be configured as to the motor supply electric energy, so as to drive the motor；And its Described in steering be configured to turn to it is at least one in the multiple wheel.”.

With reference now to Fig. 3 a, it is generally illustrated and illustrates that the door of prior art rotates selective interceptor (" interceptor ") 300.Interceptor 300 is configured as the Smooth Rotation (that is, open) that (a) provides door, (b) enable door open or rotate to it is multiple Predefined resting position, (c) prevents from opening or rotation exceedes predetermined angular (will door be parked in its maximum open position).

Therefore, an interceptor 300 is arranged in each in multiple doors 400 to 403.Fig. 4 generally shows and shown The interceptor gone out in driver door 400.Fig. 4 setting is prior art.The bicycle frame connector 307 of interceptor is consolidated Surely the structural base vehicle frame (that is, bicycle frame connector 307 is not attached to door 400) of vehicle 200 is arrived.The selective lock of interceptor 300 Door 303 is fixed on the inner surface of door 400, and is therefore moved with together with door 400.The arm 302 and retainer 301 of interceptor 300 It is free floating (that is, the vehicle frame for being not directly secured to door 400 or vehicle).Arm 302 surrounds vehicle frame at pivot bearings 302d Connector 307 is pivoted and (that is, rotated).

Fig. 3 a illustrate in greater detail and illustrated the interceptor 300 of prior art.As described above, interceptor 300 stops including (a) Moving part 301, (b) arm 302, (c) selective gate 303, (d) bicycle frame connector 307 and (e) installed part 306.Although in Fig. 4 It is not shown, selective gate 303 is fixed to the inner surface of door 400 by installed part 306.In Fig. 4, installed part 306 will selectivity Gate 303 is connected to the left surface 400a of door 400.

With reference to figure 3a, and as known in the art, arm 302 is slid laterally by selective gate 303.Selectivity Gate 303 includes the upper springs 303a of upper roll 303b biased downwards backing arm 302 and lower rollers 303d is biased upwards The lower springs 303c of backing arm 302.

As shown in Figure 3 a, arm 302 includes multiple recesses (for example, the first recess 302a, the second recess 302b and the 3rd recess 302c).Recess 302a to 302c represents the central rest position of door 400.More specifically, recess 302a to 302c causes spring 303a and 303c can occupy low-energy state.Therefore recess 302a to 302c prevents door 400 from further rotating and promote door 400 is static in the middle position associated with recess.For example, when the door is open, roller 303b and 303d can take up recess 302b.Because recess 302b is vertically thinner than the adjacent part of arm 302, when roller 303b and 303d are located in recess 302b When, spring 303a and 303c will relax.Therefore, recess 302b promotes door in middle (partially open and part is closed) rest position Put stopping.If user applies enough additional forces on the door, arm 302 will continue to slide through selective gate 303, force bullet The new position that spring 303a and 303c retract and enabled on roller 303b and 303d contact arm 302.When bicycle frame connector 307 against Selective gate 303, door reaches its fully closed position, and when retainer 301 is against selective gate 303, door 400 arrives Up to its fully open position.

Fig. 3 b generally illustrate and illustrated the details of the present invention.Fig. 3 b are not prior arts.The present invention is included top It is attached with lower linear actuator assembly 304 and 305 (the also referred to as linear limiter in upper and lower part or upper and lower part limiter) It is connected to selective gate 303.Linear actuators assembly 304 and 305 is configured to make roller 303b and 303d optionally extrude or press Contracting backing arm 302.The compression prevents or stop arm 302 slides relative to selective gate 303, so as to prevent or prevent door 400 Rotated relative to vehicle 200.In other words, linear actuators assembly 304 and 305 is configured as door 400 stopping at its current Position and prevent user's revolving door 400.

The use example of the present invention is shown with reference to figure 5.In Figure 5, cyclist 500 is in a fully open position and car In the danger of the collision of door 400.Collision between present invention prediction bicycle person 500 and door 400, it is then total by linear actuators Opened into 304 and 305 prevention doors 400.

Upper linear actuator assembly 304 includes (a) upper linear motor or solenoid 304a, the actuating of (b) Upper vertical Device 304b and (c) top Brake pad 304c.Lower linear actuator assembly 305 includes (a) lower linear motor or helical Pipe 305a, (b) lower vertical actuator 305b and (c) bottom Brake pad 305c.

Linear motor or solenoid 304a, 305a be configured in the vertical direction it is mobile or slide vertical actuator 304b, 305b.More specifically, when upper linear motor or solenoid 304a are activated, upper linear motor or solenoid 304a are downward Upper vertical actuator 304b is slided or excited, and Upper vertical actuator 304b is maintained to the position extended downwardly completely. When bottom linear motor or solenoid 305a are activated, upper linear motor or solenoid 305a upward slidings or bottom is excited Lower vertical actuator 305b is simultaneously maintained at the position extended downwardly completely by vertical actuator 305b.When linear motor or helical When pipe 304a, 305a are disabled, linear motor or solenoid：(a) retraction vertical actuator 304b, 305b and/or (b) are no longer forced Vertical actuator 304b, 305b (allow vertical actuator 304b, 305b at least in part in weight to its fully extended position Retracted in the presence of masterpiece is exerted oneself and/or under roller 303b, 303d opposing force).

Brake 304c, 305c are configured to compression against roller 303b, 303d, so as to prevent or prevent upper roll 303b in arm Moved up in the presence of 302 power, and prevent or prevent lower rollers 303d to be moved down in the presence of arm 302.Braking Device 304c, 305c can be made up of rubber and the end fixed to actuator 304b, 305b.

According to some embodiments, vertical actuator 304b, 305b and brake 304c, 305c are contained in upper springs 303a In lower springs 303c center gap.When Upper vertical actuator 304b is in fully extended position, upper springs 303a is therefore on Upper vertical actuator 304b and top brake 304c.Similarly, as lower vertical actuator 305b During in fully extended position, lower springs 303c surrounds lower vertical actuator 305b and bottom brake 305c.

Fig. 3 a are returned to, upper and lower part linear actuators assembly 304,305 is configured as selective ground resistance when enabled The horizontal translation that only arm 302 passes through selective gate 303.When upper and lower part linear actuators assembly 304,305 disables, resistance The only normal operation of device 300 and as previously described.

The method 600 of control actuator assembly 304 and 305 totally has shown and described in Fig. 6.Method 600 is configured as (a) Predict that door opens event, (b) prediction and the expected collision of door, and (c) be based on (a) and (b) start actuator assembly 304, 305。

In frame 602, vehicle 200 detects stopping event.Vehicle 200 can determine that vehicle 200 has been placed on down by (a) Car bumper, and/or (b) determine that vehicle 200 has reached zero velocity, to detect this event.

In frame 604, vehicle 200 predicts the opening of one or more of door 400 to 403.It is predicted to be with rational The door for opening probability is referred to as dodge gate.

Opening of the vehicle 200 based on following one or more event prediction driver doors 400：(a) vehicle, which is placed on, stops In parking lot, (b) pilot harness is in the predetermined time period before vehicle is placed on parking gear from engagement transition to de- From engagement, compared with the stable state weight that (c) is determined when vehicle 200 moves, the weight sensor in pilot set, which is read, to be subtracted Few weight.

The opening of one before vehicle 200 is predicted based on following one or more events in passenger doors 403：(a) vehicle 200 reach zero velocity, and Passenger-Seat-Belt is de- from bonding transition in the predetermined amount of time before vehicle reaches zero velocity before (b) From compared with the stable state weight that (c) is determined when vehicle 200 moves, the weight sensor in front passenger seat reads reduction Weight.

Vehicle 200 predicts the opening of left back passenger doors 401 based on following one or more events：(a) vehicle 200 reaches Zero velocity, (b) any back seat belt are de- from bonding transition in the predetermined amount of time before vehicle reaches zero velocity From compared with the stable state weight that (c) is determined when vehicle 200 moves, the weight sensor in any one in back seat is read To the weight of reduction.

Opening of the vehicle 200 based on following one or more event prediction rear right passenger doors 402：(a) vehicle 200 reaches zero Speed, (b) any back seat belt are disengaging from bonding transition in the predetermined amount of time before vehicle reaches zero velocity, (c) compared with the stable state weight determined when vehicle 200 moves, the weight sensor in any one in back seat reads reduction Weight.

In frame 606, vehicle 200 scans or monitored environment via local vehicle sensors 102a to 102d.In frame 608, car 200 readings of the application from local vehicle sensors 102a to 102d are to detect the object of vehicle periphery.In frame 610, vehicle 200 calculate size, track, position, speed and/or the acceleration of object to be detected.In frame 612, vehicle 200 is based on being calculated Size, relative to the track for scanning position of dodge gate (there is the rational door for opening probability), position, speed and/or add The one or more of speed carrys out filtering objects.More specifically, vehicle 200 can be with：Ignore size less than preliminary dimension threshold value (such as With low surface area) object；Ignore with the not object for scanning the track that position is intersected with dodge gate；Ignore and dodge gate Each position of scanning there is the object of at least preset distance；Ignore the object that speed is less than predetermined speed threshold value；Ignoring has Less than the object of the acceleration of predetermined acceleration threshold value, predetermined acceleration threshold value is (a) object away from the intersection of locus with object The function of the current distance for scanning position of dodge gate and the present speed of (b) object.

It should be appreciated that door scans the arc gamut that position is possible door position.For example, driver door's 400 sweeps Plunderring position includes the position of door 400 when (a) is completely closed, position when (b) door 400 is opened completely, and all centres of (c) door Position.It will therefore be appreciated that the position of scanning of driver door 400 is arc, wherein it is complete to correspond to door for one end of arc The opposite end of closing and arc corresponds to the complete opening of door.It should be further understood that vehicle 200 can calculate object and Door between crosspoint, wherein assume non-door part be complete obstacle (if for example, bicycle on the right side of vehicle 200, and And the track of bicycle is intersected with the door 400 in the left side of vehicle 200, then vehicle 200 will ignore phase between door 400 and bicycle Hand over).

In frame 614, vehicle 200 calculates the dodge gate of the intersection of locus of the object not filtered and the object with not filtered The collision time (Time-to-Collision, TTC) scanned between position (for example, if the track of bicycle and the phase of door 401 Hand over and door 401 is in activity, then vehicle 200 obtains the TTC scanned between position and bicycle in door 401；If from The track of driving is intersected with door 400 and 401, and door 400 and 401 is movable, then vehicle 200 is obtained in door 400 and 401 Each TTC scanned between position and bicycle.TTC be based on (a) object speed, (b) relative to door the thing for scanning position Body position, the acceleration and/or (d) of (c) object relative to door the object direct of travel for scanning position.TTC calculating exists It is described in Bidner U.S. Patent Application No. 15/183,355, entire contents are incorporated herein by reference.

If TTC is higher than predetermined threshold, vehicle 200 returns to frame 606, causes method 600 to circulate or repeat.Vehicle 200 can circulate method 600 circulation time of scheduled volume.Vehicle 200 can be with round-robin method 600 until (a) at least one door Have already turned on, (b) neither one seat-weight sensor measures consistent with human passenger with continuing at least predetermined time quantum Weight and/or the value that returns of (c) seat-weight sensor continue at least predetermined time quantum and keep constant (in predetermined degree Within, such as ± 5%) in.

If TTC is less than predetermined threshold time value, vehicle 200 proceeds to frame 616 and takes one or more actions.It is dynamic (a) can be included by, which making, starts corresponding to linear with the interceptor of the dodge gate associated less than the TTC of predetermined threshold time value Actuator assembly 304,305；(b) blinking light, police whistle sound or audio message is played to prevent exterior object；(c) in vehicle Show or send internal warning.Hereafter, vehicle 200 returns to frame 606 and repeats the circulation.

While the circulation is repeated, vehicle 200 can continue using above-mentioned action until returning to frame 616 next time Repeatedly.If the identical that do not include repeatedly of frame 616 acts next time, vehicle 200 terminate from frame 616 it is new repeatedly in lack Current active.

According to some embodiments, vehicle 200 can be in the user command of (a) via user interface 105, (b) detection weight Multiple trial (for example, attempt or at least attempt three times at least twice) corresponds to above-mentioned linear actuators assembly 304,305 to open Door when, it is automatic to disable linear actuators assembly 304,305.Vehicle 200 can be applied to one by appropriate sensor record The amounts of power individual or on two vertical actuator 304b, 305b determines condition (b).If power exceedes predetermined force at least predetermined time Number is (for example, once or three times), then vehicle 200 can disable above-mentioned linear actuators assembly 304,305 automatically.

According to some embodiments, vehicle can determine condition (b) by sensing or recording the Angle Position of door handle.If Vehicle detection has rotated pre-determined number to door handle from its resting position (being flushed with car door or parallel), then vehicle can be certainly Dynamicly disable above-mentioned linear actuators assembly 304,305.

Claims

1. a kind of vehicle, comprising：

(a) vehicle frame, rotatable door；

(b) interceptor, the interceptor include：

The arm of selective gate is extended through, the selective gate includes：

Upper and lower part spring, the upper and lower part spring is respectively by arm described in upper roll and lower rollers against；

Upper and lower part limiter, the upper and lower part limiter are configured to the upper roll and the bottom on startup Roll-in is leaned against on arm, so as to stop the rotation of the door；

(c) sensor, processor, the processor are configured as：Started based on the event sensed and disable the limiter.

2. vehicle according to claim 1, wherein the door structure is into around vehicle frame rotation and pivot；It is wherein described Interceptor is configured about the vehicle frame rotation and pivoted；Wherein described selective gate is fixed to the door.

3. vehicle according to claim 1, wherein the top limiter includes：

(a) upper linear motor or solenoid,

(b) Upper vertical actuator, and

(c) top brake.

4. vehicle according to claim 3, described when the vehicle is constructed such that the proper top limiter starts Upper vertical actuator extends through the central axis of the upper springs.

5. vehicle according to claim 3, the vehicle is configured such that when starting the top limiter, described Upper linear motor or solenoid extend downwardly the Upper vertical actuator, and the Upper vertical actuator drives the top Brake is against the upper roll, and the top limiter drives the top brake against the upper roll until institute Top limiter is stated to disable.

6. vehicle according to claim 3, wherein the lower limit device includes：

(a) lower linear motor or solenoid,

(b) lower vertical actuator, and

(c) bottom brake.

7. a kind of vehicle, comprising：

(a) rotatable door, interceptor, the interceptor include：

Upper and lower part limiter, the upper and lower part limiter are configured on startup be pressed against upper roll and lower rollers On arm, so as to prevent the rotation of the door；

(b) sensor, processor, the processor are configured as：Started based on the event sensed and disable the limiter.

8. vehicle according to claim 7, wherein the processor is configured as：

Intersect with the door calculating track for scanning the object that position determines to detect based on the door；

Determine to start limiter based on described.

9. vehicle according to claim 8, wherein the processor is configured as：

Determine that the door is movable with reference to seat belt sensor or seat load cell；

Only when the door is confirmed as activity, just calculate described in the object that detects relative to the door track.

10. vehicle according to claim 7, wherein the door is driver door and the interceptor is driver's gate resistance Only device, the vehicle includes the passenger doors for being connected to passenger doors interceptor, and the processor is configured as：

Determine that passenger doors are movable with reference to passenger safety belt sensor or passenger seat load cell；

Only when the passenger doors are active, the calculating track of object that detects and the passenger doors phase are just determined Hand over；

Based on the limiter for determining to start passenger doors interceptor.

11. vehicle according to claim 7, wherein the processor is configured as：

Measurement is applied to the load on the limiter；

When the load of measurement reaches pre-determined number more than predetermined value, the limiter is disabled.

12. a kind of method for the rotatable door for stopping vehicle, the vehicle include sensor, the door and interceptor, the resistance Only utensil has：Top limiter and lower limit device, the top limiter and the lower limit device are configured on startup Upper roll and lower rollers are pressed against on arm, so as to prevent the rotation of the door；Methods described includes the place via the vehicle Manage device：

Start based on the event sensed and disable limiter.

13. the method according to claim 11, comprising：

It is determined that the calculating track of the object detected is intersected with the position of scanning of the door, it is arc to scan position described in the door Shape and closed position including the door, the centre position of the fully open position of the door and door；

Determine to start the limiter based on described.

14. the method according to claim 11, comprising：

15. according to the method for claim 12, wherein the door is driver door and the interceptor is driver door Interceptor, the vehicle includes being connected to the passenger doors of passenger doors interceptor, and methods described includes：

Determine that the passenger doors are movable with reference to passenger safety belt sensor or passenger seat load cell；

Only when the passenger doors are active, the calculating track for the object for just determining to detect is intersected with passenger doors；

Based on the limiter for determining to start the passenger doors interceptor.